Modeling and Control of Flexible Link Manipulators
Doctoral thesis
Published version
Permanent lenke
https://hdl.handle.net/11250/3021841Utgivelsesdato
2022Metadata
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Originalversjon
Subedi, D. (2022). Modeling and Control of Flexible Link Manipulators [PhD. thesis]. University of Agder.Sammendrag
Autonomous maritime navigation and offshore operations have gained wide attention with the aim of reducing operational costs and increasing reliability and safety. Offshore operations, such as wind farm inspection, sea farm cleaning, and ship mooring, could be carried out autonomously or semi-autonomously by mounting one or more long-reach robots on the ship/vessel. In addition to offshore applications, long-reach manipulators can be used in many other engineering applications such as construction automation, aerospace industry, and space research. Some applications require the design of long and slender mechanical structures, which possess some degrees of flexibility and deflections because of the material used and the length of the links. The link elasticity causes deflection leading to problems in precise position control of the end-effector. So, it is necessary to compensate for the deflection of the long-reach arm to fully utilize the long-reach lightweight flexible manipulators.
This thesis aims at presenting a unified understanding of modeling, control, and application of long-reach flexible manipulators. State-of-the-art dynamic modeling techniques and control schemes of the flexible link manipulators (FLMs) are discussed along with their merits, limitations, and challenges. The kinematics and dynamics of a planar multi-link flexible manipulator are presented. The effects of robot configuration and payload on the mode shapes and eigenfrequencies of the flexible links are discussed. A method to estimate and compensate for the static deflection of the multi-link flexible manipulators under gravity is proposed and experimentally validated. The redundant degree of freedom of the planar multi-link flexible manipulator is exploited to minimize vibrations. The application of a long-reach arm in autonomous mooring operation based on sensor fusion using camera and light detection and ranging (LiDAR) data is proposed.
Består av
Paper I: Subedi, D., Tyapin, I. & Hovland, G. (2020). Review on Modeling and Control of Flexible Link Manipulators. Modeling, Identification and Control, 41(3), 141-163. http://dx.doi.org/10.4173/mic.2020.3.2. Published version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/2755193.Paper II: Subedi, D., Tyapin, I. & Hovland, G. (2020). Modeling and Analysis of Flexible Bodies Using Lumped Parameter Method. Proceedings of the 2020 IEEE 11th International Conference on Mechanical and Intelligent Manufacturing Technologies (p. 161-166). IEEE. https://doi.org/10.1109/ICMIMT49010.2020.9041188. Accepted manuscript. Full-text is available in AURA as a separate file: .
Paper III: Subedi, D., Tyapin, I., & Hovland, G. (2021). Dynamic Modeling of Planar Multi-Link Flexible Manipulators. Robotics, 10(2), 26. https://doi.org/10.3390/robotics10020070. Published version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/2989924.
Paper IV: Subedi, D., Aune, T. N., Tyapin, I. & Hovland, G. (2022). Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity. IEEE Access, 10, 9658-9667. https://doi.org/10.1109/ACCESS.2022.3144404. Published version. Full-text is available in AURA as a separate https://hdl.handle.net/11250/2997431.
Paper V: Subedi, D., Tyapin, I. & Hovland, G. (2022). Control of Redundant Flexible Manipulators with Redundancy Resolution. 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) (p. 116-121). IEEE. https://doi.org/10.1109/ICMRE54455.2022.9734097. Accepted manuscript. Full-text is available in AURA as a separate: https://hdl.handle.net/11250/3022339.
Paper VI: Subedi, D., Jha, A., Tyapin, I. & Hovland, G. (2020). Camera-LiDAR Data Fusion for Autonomous Mooring Operation. 2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA) (p. 1176-1181). IEEE. https://doi.org/10.1109/ICIEA48937.2020.9248089. Accepted manuscript. Full-text is available in AURA as a separate: https://hdl.handle.net/11250/3022338.